2915 Commits

Author	SHA1	Message	Date
Hamish Willee	9e41ffd537	docs:Fix in-source broken links in modules and airframes ref (#26611)	2026-03-02 18:18:00 +11:00
Tim	8f870a1346	BlueROV2 Height control Altitude Mode (#26364) ... * removed commented out parts * changed the height controller to work in Altitude mode and moved the controller to the uuv_pos_control.hpp instead of uuv_att_control.hpp * Updated format changes etc. Removed one parameter, that is not used anymore(UUV_HGT_MODE) added my correct email * added a rotation to the thrust, that with different roll and pitch values, x y z thrust is still working as if roll/pitch is zero. * fixed constant roll/pitch to be 0.0 again * added parameter for maximum distance between controlled des height and current height. Added state observation to reset the desired height to current height when altitude mode is turned on. * added first short descriptions of manual modes. * update descriptions * removed vector dependency * feat: updated gz submodule * fix: newline * fix: gz submodule --------- Co-authored-by: Pedro Roque <roque@caltech.edu>	2026-02-20 22:46:12 -08:00
Victor Nan Fernandez-Ayala	2a0b795760	fix: set UXRCE_DDS_AG_IP in UUV airframe, remove from defaults (#26485)	2026-02-17 16:15:45 -08:00
Jacob Dahl	d84903d520	init.d-posix/airframes/4004_gz_standard_vtol: param set-default VT_PITCH_MIN -5 (#26507)	2026-02-17 00:06:29 -09:00
Daniel Honies	ac4f419b50	Update 4004_gz_standard_vtol ... VT_F_TRANS_THR at 0.3 always triggers front transition timeout as the vehicle does not accaelerate quickly enough. With the param set to 1.0 it works.	2026-01-29 18:07:32 +01:00
Matthias Grob	cac3c3c133	boot script: start uavcan and zenoh before logger ... because they publish optional topics which need to be advertised before logger starts otherwise they do not get logged!	2026-01-27 10:06:22 +01:00
Niklas Hauser	c0c265cd1f	[vtx] Add VTX driver with Tramp and SmartAudio support	2026-01-26 11:05:22 +01:00
Pernilla	8c5c4a0504	gimbal: update gz gimbal	2026-01-16 11:33:45 +01:00
Jonas Eschmann	db2c6b2abe	feature: Integrating the RAPTOR foundation policy (#26082) ... * moving raptor bump compiles and raptor mode appears hovering with RAPTOR seems to work Using Raptor to execute offboard commands works (using multirobot f03825a5795a77c5a095f799eeb8e0b646fe7176 to feed the trajectory_setpoint). Requires more testing simplified rotmat runtime inference frequency multiple arming request response reflects actual readiness adjusting to fit IMU gyro ratemax relaxing control timing warning thresholds for SITL Using mode registration to signal if offboard commands should be forwarded to trajectory_setpoint instead of just hardcoding vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD adopting new "request_offboard_setpoint" in raptor module replace offboard seems good mc_raptor: overwrite offboard parameter separate raptor config addendum Raptor off by default RAPTOR readme Loading raptor checkpoint from tar works. check if load was successful refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first adapter not needed anymore ripping out test observation mode (not used in a long time) fixing warnings bump RLtools to fix the remaining warnings Loading RAPTOR checkpoint from sdcard seems to work on FMU-6C embedding Raptor policy into flash works again also printing checkpoint name when using the embedded policy cleaner handling of the checkpoint name back to reading from file ripping out visual odometry checks cleaner more debug but no success bump rlt bump pre next rebase we can publish the no angvel update because we latch onto it with the scheduled work item anyways this kind of runs on the 6c still bad SIH almost flying saving stale traj setpoint yaw new error. timestamp not the problem anymore bump rlt; SIH works with executor shaping up bumping blob (include tar checkpoint) cleaning up fixing formatting update readme * moving raptor bump compiles and raptor mode appears hovering with RAPTOR seems to work Using Raptor to execute offboard commands works (using multirobot f03825a5795a77c5a095f799eeb8e0b646fe7176 to feed the trajectory_setpoint). Requires more testing simplified rotmat runtime inference frequency multiple arming request response reflects actual readiness adjusting to fit IMU gyro ratemax relaxing control timing warning thresholds for SITL Using mode registration to signal if offboard commands should be forwarded to trajectory_setpoint instead of just hardcoding vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD adopting new "request_offboard_setpoint" in raptor module replace offboard seems good mc_raptor: overwrite offboard parameter separate raptor config addendum Raptor off by default RAPTOR readme Loading raptor checkpoint from tar works. check if load was successful refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first adapter not needed anymore ripping out test observation mode (not used in a long time) fixing warnings bump RLtools to fix the remaining warnings Loading RAPTOR checkpoint from sdcard seems to work on FMU-6C embedding Raptor policy into flash works again also printing checkpoint name when using the embedded policy cleaner handling of the checkpoint name back to reading from file ripping out visual odometry checks cleaner more debug but no success bump rlt bump pre next rebase we can publish the no angvel update because we latch onto it with the scheduled work item anyways this kind of runs on the 6c still bad SIH almost flying saving stale traj setpoint yaw new error. timestamp not the problem anymore bump rlt; SIH works with executor shaping up bumping blob (include tar checkpoint) cleaning up fixing formatting update readme updating gitignore * fixing format and declaring submodules as cmake dependencies * adding uORB message documentation * fixing comment alignment * Adding option to restrict mc_raptor to not listen to the trajectory_setpoint (use the position and yaw at activation time as reference instead) * bump RLtools; relax timing thresholds and adding real world readme * smooth traj tracking performance * Measuring trajectory_setpoint timing (providing stats in raptor_status); reverting accidental .gitignore modification * More ideomatic way of setting the path to the policy checkpoint * Reset trajectory_setpoint on raptor mode activation * Adding internal trajectory generation (feeding trajectory_setpoint over Mavlink is too noisy). Quite agile trajectory tracking, good performance * stable flight * Update msg/versioned/RaptorInput.msg Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * adopting message formatting conventions * sort raptor.px4board * Archiving RegisterExtComponentRequestV1.msg * Add message versioning for VehicleStatus v2 and RegisterExtComponentRequest v2 * fixing formatting * making internal reference configurable via command * RAPTOR docs wip * raptor internal reference documentation * Finishing RAPTOR docs first draft * adding logging instructions * Fixing missing command documentation test error * fixing format * adding motor layout warning * raptor minimal subedit - prettier, images etc * Improve intro * Fix up Neural_Networks version * Mentioning "Adaptive" in the RAPTOR documentation's title * Adding clarifications about the internal reference trajectory generator * Removing "foundation policy" wording * Fixing new-line check * Removing redundant (evident through directory hierarchy) raptor_ from filenames * Unifying Neural Network docs (mc_nn_control and mc_raptor) under the "Neural Network" topic * Fix to standard structure * Making the distinction between mc_nn_control and mc_raptor more clear and fixing the comparison table * Removing trajectory_setpoint forwarding flag from external mode registration request and from the vehicle status * Trivial layout and wording fixes * fixing docs error --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2026-01-14 09:47:47 -08:00
Phil-Engljaehringer	46d9b14ba0	Feat: Add driver for TMP102 temperature sensor for Skynode-N (#26241) ... * feat: added driver for tmp102 temperature sensor * style: removed new line * style: adjusted date in header * style: removed duplicated logging * fix: moved start-up command from rc.board_sensors to rc.sensors * style: used consexpr for expected config reg value * feat: added retry logic to probe function * style: added _ as prefix to global variable * style: used make format * fix: corrected temperature calculation * fix: mask AL-bit in probe function * style: removed header files from CMakeLists * style: used correct english in comments * refactor: return error right after failure * style: moved init call to correct place * fix: corrected temperature calculation (again) * refactor: removed _curr_pr variable => always have to set PR to desired register on read * fix: add multi logged topic	2026-01-12 18:42:51 +01:00
Beniamino Pozzan	ec8f34325e	chore(rCS posix): move param override through env var after airframe selection (#26193) ... Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>	2026-01-09 12:15:45 +01:00
Julian Oes	0375f1a6f0	airframes: don't mess with logging profile (#26234) ... I don't think we should change the logging profile based on the type of airframe configured. Instead, this is an option you set based on the phase of development/testing you're in. This came up because the KakuteH7v2 which is 4050 by default would log excessively which is not a good idea with only 128 MB flash storage.	2026-01-07 20:31:52 -09:00
Pedro Roque	9563f4c8c6	fix: move required dds ip to hardware, leave default on sim (#26190)	2026-01-03 21:00:25 +01:00
Pedro Roque	33c7eed5f1	feature: add ATMOS dual actuation model (#26088) ... * init: working towards dual-action ATMOS * fix: update gz sim to latest * fix: add motor number max fitting Actuator * fix: revert non-necessary changes * fix: ensure esc count does not exceed maximum number of ESCs * feat: update gz to latest, includes ATMOS dual action * fix: restore dds_topics * fix: update gazebo model commit	2025-12-23 22:38:58 -08:00
Jacob Dahl	b5c0867101	airframes: exclude ark_fmu-v6x	2025-12-19 11:40:17 -09:00
Jacob Dahl	339a0b40af	airframes: exclude px4_fmu-v6x on 6002_draco_r	2025-12-18 08:52:17 -09:00
Jacob Dahl	d2aa1b801c	airframes: exclude px4_fmu-v6x on 4052_holybro_qav250	2025-12-18 08:52:17 -09:00
Jacob Dahl	26d847e6e7	airframes: exclude px4_fmu-v6x on 4016_holybro_px4vision	2025-12-18 08:52:17 -09:00
Jacob Dahl	1cf2dc8791	airframes: exclude px4_fmu-v6x on 17002_TF-AutoG2	2025-12-18 08:52:17 -09:00
Jacob Dahl	209a9935e7	airframes: exclude px4_fmu-v6x on 17003_TF-G2	2025-12-18 08:52:17 -09:00
Jacob Dahl	0fa667fd92	airframes: exclude px4_fmu-v6x on 4053_holybro_kopis2 (uses Kakute FC)	2025-12-18 08:52:17 -09:00
Jaeyoung Lim	ac2f2cf2c8	Follow camera with gz topic (#26023) ... * Follow camera with gz topic * Set follow pgain as well	2025-12-01 09:19:04 -08:00
Jaeyoung Lim	5df20b8e9b	Add custom gz airspeed plugin and add wind effects (#26018) ... * Add px4 custom airspeed sensor * Format fix	2025-12-01 08:56:40 -08:00
Phil-Engljaehringer	8a2239f3e8	drivers: Add TLA2528 ADC driver (#25898) ... * tla2528 basic implementation (restarting driver still fails) * fixed probe function, restarting driver now works * -added reset call to init -added return value checks on all important transfers and retry if failed when possible -removed comments -removed unnecessary parameters of module * Introduced initialization-states that can be executed multiple times on failure * Added one more state s.t. init() only does probing * added communication error count _comms_errors * use get() instead of param_find * changed scheduling interval * start in reset state. check second byte in probe. add 2 retries to probe function * add space in front of comments * jump to reset state when another state fails * changed SAMPLE_INTERVAL to 10_ms * added static assert on number of channels in adc_report	2025-11-18 17:30:34 +01:00
Silvan	f80b05e4f9	ROMFS: remove all CA_AIRFRAME sets to 1 as it is now in fw_defaults ... Signed-off-by: Silvan <silvan@auterion.com>	2025-11-10 01:02:42 -05:00
Silvan	6d0e27222c	ROMFS fw_defaults: add CA_AIRFRAME set to 1 (fixed-wing) ... I guess 99% of fixed-wings have this set to 1, so let's just put it into the defaults. Signed-off-by: Silvan <silvan@auterion.com>	2025-11-10 01:02:42 -05:00
TedObrien	a94ee4382b	MCP9808: Create driver for MCP9808 temperature sensor	2025-11-06 10:00:26 -09:00
Phil-Engljaehringer	fb13b880ce	sensors: add ads7953 adc ... * sensors: add ads7953 adc * Update src/drivers/adc/ads7953/ADS7953.h Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * Implemented changes suggested by review * Implemented suggested changes * removed unused variables and moved scope of ch_id * Activated distance sensor again * Update msg/AdcReport.msg Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * Update ADC report message field comments * Update ADC msg - fix layout * update comments * changed group to Sensors in module.yaml * created new module subcategory "adc" * reverted group change in module.yaml * added module descrption to modules_driver.md * removed module description in modules_driver.md (autogenerated) * removed unused variable, changed board_adc publication method to "multi" * added static assert --------- Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-11-04 17:22:10 +01:00
mahima-yoga	056289892c	fw_defaults: bump default EKF2_REQ_PDOP to 4	2025-10-20 08:54:55 +02:00
Alexander Lerach	e8fbc30cf6	boards: add auterion v6x target	2025-10-14 19:14:41 +02:00
Matthias Grob	12035682d7	Use MAVLink v1 only as opt-in (#25583) ... * Remove support for MAVLink 1 * Add back support for MAVLink 1 but don't default to it * Update src/modules/mavlink/mavlink_params.c Co-authored-by: Hamish Willee <hamishwillee@gmail.com> --------- Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-10-13 20:58:34 -08:00
Matthias Grob	33301764e4	Handle SYS_AUTOSTART 0 the same as no valid airframe being available (#25645) ... * ROMFS: do not exit airframe loading if SYS_AUTOSTART is 0 Do not treat 0 as a magic value that skips the aiframe loading. Instead leave it tot he rc.autostart to load an airframe that if finds appropriate (can be defined in external aiframe). Signed-off-by: Silvan <silvan@auterion.com> * ROMFS: adjust airframe load spacing and message/comment wording --------- Signed-off-by: Silvan <silvan@auterion.com> Co-authored-by: Silvan <silvan@auterion.com>	2025-10-13 20:56:27 -08:00
Jacob Dahl	12f6005c5c	romfs: allow target level airframe selection (#25677)	2025-10-10 11:29:27 -06:00
Peter van der Perk	2f48cb4ef2	MR-CANHUBK344 NXP B3RB Rover support (#23897) ... * s32k3xx: EMIOS allow independent frequencies for each channel * mr-canhubk3: update config * mr-canhubk344: Fix adap board detect * mr-canhubk344: Use LPSPI1 (Port P1A) for SD card * airframes: Add B3RB Ackermann rover config See https://nxp.gitbook.io/mr-b3rb for more information about the NXP B3RB platform. PX4 Support basic control for now	2025-10-09 23:28:43 -08:00
Alexander Lerach	97a97991c1	airframes 4017, 4041: exclude from v6x targets to save flash	2025-10-02 14:43:05 +02:00
chfriedrich98	a6bf5a9066	Rover: Simulation Update (#25644) ... * gz: update submodule * rover: update simulation airframes * docs: rover simulation	2025-09-30 23:04:07 -08:00
Matthias Grob	e0cdcdb436	Remove COM_POSCTL_NAVL ... In an effort to reduce configuration space. I've not seen use for this option. If a pilot flies manually in position mode he has some visual reference of the vehicle and can do better than an autonomous mode without position reference. Also by now we have nudging in Descend mode so the pilot can still give input and the only difference is it automatically goes down instead of the pilot having to descend by stick to land.	2025-09-08 09:41:52 +02:00
Pedro Roque	271cb49597	feat: airframe documentation for spacecraft (#25294)	2025-09-02 16:27:26 -07:00
Silvan	ce207837cf	rc.sensors: add iis2mdc mag to list of probed for sensors ... Signed-off-by: Silvan <silvan@auterion.com>	2025-09-02 10:16:32 -06:00
Alexander Lerach	8f2c36689d	logging: allow logging backend config ... * logging: allow logging backend config * correct board comments * documentation: updated logging section	2025-08-27 15:44:36 +02:00
Peter van der Perk	85cab5a4db	sitl: autostart zenoh if enabled	2025-08-22 08:22:59 +02:00
Alexander Lerach	138427b3a8	config: add dynamic init file ... * config: add dynamic init file * added review feedback * added docs	2025-08-21 16:46:06 +02:00
chfriedrich98	9a1845902e	ackermann: add SIH airframe (#25405)	2025-08-13 15:41:14 +02:00
Jacob Dahl	86f049ead1	romfs: generic_250: set MPC_Z_VEL_MAX_DN to match UP	2025-08-06 09:58:58 -06:00
Jacob Dahl	463ddcab86	payload deliverer: remove PD_GRIPPER_EN as unnecessary, reduce gripper timeout to 1s	2025-07-28 11:25:17 -08:00
Sindre Meyer Hegre	3be0cb077c	Neural Control Mode (#24366) ... * Add tflm to px4 with module - Add TensorFlow Lite Micro(TFLM) as a library in px4 - Make a module that uses neural network inference for control, which uses TFLM for inference - Make board config files for PX4 with neural module * Added neural flight mode * Add posibility to read of inference times * Fix comments from review: - Switch ssh link to https link in submodule - Remove mc_nn_control from startup * Add tflm to px4 with module - Add TensorFlow Lite Micro(TFLM) as a library in px4 - Make a module that uses neural network inference for control, which uses TFLM for inference - Make board config files for PX4 with neural module * Added neural flight mode * Add posibility to read of inference times * Remove auto start * Add logging from neural control module * Fix automatic startup to only be when module is included * Switch to flight mode registration * Add docs * Change min/max/coeff to actual parameters * add figures to neural network docs * Switch to e2e network * Remove toolchain changes and replace with instructions in docs * Get ready for merge after toolchain upgrade * switch back to submodule * Try to figure out cmake * Get CI working with new toolchain * Remove fork dependency * Finalize PR * fix toolchain inclusion * Fix ctype_base.h include * Cleanup includes for TFLM * Remove redundant std * Update FW module names in board files * Fix docs * Remove cstdlib copy * Copy header from nuttx * Prettier, markup, layout * NeuralControl.msg - update uorb comments to current standard * Add description to neural topic * Fix typo * Typo * TFLM and Module utitlities * Neural networks top level * Update docs * Add manual control * Update docs * Revert the manual control attempt * Update docs/en/advanced/nn_module_utilities.md * Add posibility to set trajectory setpoint with manual control --------- Co-authored-by: Pedro Roque <padr@kth.se> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>	2025-07-25 09:42:12 -08:00
Sandesh Sharma	959587d2c9	fix: let UXRCE DDS agent IP to be set via parameter in SITL (#25231) ... * Read XRCE_DDS IP from ENV * just remove the -h flag from the launch command * add 127.0.0.1 as default IP * add default value for IP	2025-07-25 15:10:02 +02:00
E-Krantz	23ad974f30	fix: spacecraft airframe naming (#25289)	2025-07-24 21:29:18 +02:00
Hamish Willee	4247383bae	50001_aion_robotics_r1_rover - discontinued	2025-07-24 08:40:43 +10:00
Pedro Roque	e14eea5615	feat: BlueROV2 Heavy updated control (attitude and position) and model (#25052) ... * rft: clean merge to PX4 * fix: formatting * fix: extra line * fix: moved submarine out of "is_ground_vehicle", added proper check for center-throttle * feat: updated gazebo models to include bluerov update * fix: use 'is_uuv_vehicle', remove FW_MM/LLC from uuv build * fix: added saturation to thrust and torque messages via param * doc: updated parameters documentation for uuv * fix: formatting * feat: matching hardware reference * fix: thrusters kg * rft: removed commented lines * fix: update gz reference given hw setup * fix: hardware references * fix: recommendations * fix: updated settings to match hardware * rft: check only for fixed and rotary wing for high throttle Co-authored-by: Daniel Agar <daniel@agar.ca> * fix: commit oupsie * fix: format * rft: remove is_uuv * fix: hw parameters, uuv build target for v6x * feat: added support for D-pad attitude changes in stabilized position control * fix: position setpoint update and parametrized trajectory age and att change * fix: format * fix: removed duplicated call to check_validity_setpoint * fix: setpoint update on arming logic * fix: setpoint initialization for stabilized mode --------- Co-authored-by: Daniel Agar <daniel@agar.ca>	2025-07-23 10:29:22 -07:00